EP3648025B1 - Procédé de pilotage en mode tri d'un système de stockage tampon et de séquencement de charges, et unité de pilotage correspondante - Google Patents

Procédé de pilotage en mode tri d'un système de stockage tampon et de séquencement de charges, et unité de pilotage correspondante Download PDF

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Publication number
EP3648025B1
EP3648025B1 EP19203985.7A EP19203985A EP3648025B1 EP 3648025 B1 EP3648025 B1 EP 3648025B1 EP 19203985 A EP19203985 A EP 19203985A EP 3648025 B1 EP3648025 B1 EP 3648025B1
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EP
European Patent Office
Prior art keywords
level
load
infeed
recirculation
recirculated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19203985.7A
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German (de)
English (en)
French (fr)
Other versions
EP3648025A1 (fr
Inventor
Stéphane PIETROWICZ
Jean-Michel Collin
Blandine Vacher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Savoye SA
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Savoye SA
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Publication date
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/10—Sequence control of conveyors operating in combination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/68—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
    • B65G47/69—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor the articles being accumulated temporarily
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means

Definitions

  • the field of the invention is that of logistics and of buffer storage and load sequencing systems configured to receive unsequenced loads from at least one external unit (for example an automated storage/retrieval store) and supply at least one sequence of loads in a desired order at at least one preparation station.
  • at least one external unit for example an automated storage/retrieval store
  • the general principle of such a system is to perform the buffer storage and load sequencing functions using two alternate lifters (input and output respectively) in combination with a buffer storage unit, under the control of a steering unit configured to organize various movements of loads between these entities.
  • the control unit UP ensures in particular compliance with a rule according to which loads present on the same input level are sequenced in an increasing order of sequence numbers.
  • the sequencing (scheduling) capability of the system is related to the amount of charges that can be temporarily stored in the buffer storage unit.
  • a recirculation i.e. a return to the input alternate elevator, and therefore potentially to the input of the buffer storage unit
  • the (at least one) recirculation level makes it possible to avoid a blocking situation of the buffer storage unit, without increasing the number of input levels.
  • exital unit which provides the non-sequenced loads
  • an automatic system for example a warehouse automated storage/retrieval
  • a semi-automatic system for example a warehouse automated storage/retrieval
  • a manual system for example a warehouse automated storage/retrieval
  • another buffer storage and load sequencing system for example a warehouse automated storage/retrieval
  • a combination of at least two of the above systems etc.
  • buffer storage and sequencing systems (each realized according to the proposed solution) can be used in parallel. For example, upstream of at least one preparation station, a first system is used only for source loads, and in parallel a second system is used only for target loads.
  • the invention in at least one embodiment, aims in particular to provide a method for controlling a buffer storage and load sequencing system, offering a solution to the problems mentioned above (or at least one between them), while managing the aforementioned compromise (between increasing the output rate of the sequenced loads and reducing the risks of blocking the system).
  • the selection of a level to be recirculated (in a given iteration of iterative control) is associated with the assignment of the "load to be recirculated" status to each load of the level to be recirculated, but does not imply the generation for the entry elevator of a transfer mission of the selected load on the entry of the level to be recirculated selected.
  • the next iteration of the iterative piloting is used to generate such a transfer mission, which makes it possible to optimize the choice of the input level on which the next selected load will be placed.
  • a computer program product which comprises program code instructions for the implementation of the aforementioned method (in any one of its various embodiments), when said program is run on a computer.
  • a non-transitory, computer-readable storage medium storing a computer program comprising a set of computer-executable instructions for carrying out the above method (in any of its various embodiments).
  • Said steering unit is configured to carry out an iterative steering of the entry elevator according to the steering method (according to any one of its embodiments described below).
  • FIG. 1 illustrates a buffer storage and load sequencing system according to a particular embodiment of the invention. It is configured to receive non-sequenced loads from an external unit (not shown), via an input conveyor CE, and supply at least one sequence of loads in a desired order (sequenced loads) to a preparation station PP (occupied by an operator or a robot), via a CS output conveyor.
  • the system sorts loads according to a list of expected outputs and loads that it discovers at input.
  • the next number in the expected output list is the first in the list, thus having the lowest value.
  • the external unit is for example an automated storage/retrieval store.
  • the external unit is another buffer storage and load sequencing system.
  • the buffer storage and load sequencing system receives unsequenced loads from several external units (either via several CE input conveyors each specific to one of the external units, or via an CE input conveyor used jointly by several external units).
  • the buffer storage and load sequencing system includes an input lifter EE, an output lifter ES, a buffer storage unit US and a driver unit UP.
  • the entry elevators EE and the exit elevator ES are vertical elevators of the alternating and discontinuous type, each comprising a single nacelle 21, 22 performing alternating vertical movements (the nacelle goes up and down alternately).
  • a "continuous elevator” also called a "patemoster” is a vertical elevator comprising a plurality of nacelles circulating in a closed loop, without alternating movement.
  • the single nacelle 21, 22 is single-load (it comprises a single level comprising a single location configured to receive a load).
  • the elevators EE, ES are simple and low cost.
  • the single nacelle location is for example equipped with a section of motorized conveyor (or any other transfer device) making it possible to transfer a load on or off the platform.
  • the nacelle location is equipped with free rollers, the movement of which is ensured for example by a retractable mechanical means positioned at the end of another piece of equipment (conveyor or buffer location). Other means of setting in motion can be envisaged.
  • the single nacelle of each lift EE, ES is multi-load (it comprises several levels and/or several load locations per level).
  • the elevators EE, ES are vertical elevators of the alternating and discontinuous type, each comprising several nacelles each performing alternating vertical movements (the nacelle goes up and down alternately).
  • Each nacelle comprises one or more levels and/or one more load slots per level.
  • the input elevator EE and the output elevator ES are positioned respectively at the input and at the output of the N input levels VE 1 to VE N , of the recirculation level VR and of the "fast track" level VQ of the US buffer storage unit.
  • the nacelle 21 of the entry elevator EE can come opposite the entry of each of the N entry levels and the “fast lane” level VQ of the buffer storage unit US to insert a load therein. It can also come opposite the output of the recirculation level VR to remove a load therefrom.
  • the gondola 22 of the output elevator ES can come opposite the output of each of the N input levels and the “fast lane” level VQ of the buffer storage unit US to remove a load therefrom. It can also come next to the inlet of the recirculation level VR to insert a load there.
  • the entrance conveyor CE occupies a position allowing a direct exchange of loads with the entrance elevator EE. In other words, a charge can pass directly from one to the other.
  • the entry elevator EE is positioned between the entry conveyor CE and the buffer storage unit US, and the entry conveyor CE is vertically aligned with the entry level referenced VE 1 of the storage unit. US buffer storage.
  • the entry conveyor CE can occupy other vertical positions, and in particular be aligned vertically with any one of the N entry levels VE 1 to VE N of the buffer storage unit US, or even with the "fast lane" level VQ or the recirculation level VR.
  • the entry conveyor CE and the buffer storage unit US are positioned on the same side of the entry elevator EE (in this case the entry conveyor CE is positioned above or below below the US buffer storage unit). In other variants, it is possible to have several entrance conveyors CE, in accordance with all the preceding variants.
  • the exit conveyor CS occupies a position allowing a direct exchange of loads with the exit elevator ES. In other words, a charge can pass directly from one to the other.
  • the output elevator ES is positioned between the buffer storage unit US and the output conveyor CS, and the output conveyor CS is aligned vertically with the input level referenced VE 1 of the buffer storage unit US .
  • the output conveyor CS can occupy other vertical positions, and in particular be aligned vertically with any one of the N input levels VE 1 to VE N of the buffer storage unit US, or even with the “fast lane” level VQ or the recirculation level VR.
  • the CS exit conveyor and the US buffer storage unit are positioned on the same side of the ES exit elevator (in this case, the CS exit conveyor is positioned above or below of the US buffer storage unit). In other variants, it is possible to have several exit conveyors CS, in accordance with all the preceding variants.
  • the UP control unit makes it possible to organize the movements of the loads in the system in an optimal manner, and in particular on the EE entry and ES exit elevators and the US buffer storage unit, in order to make available on the exit conveyor CS of the source loads according to at least one determined sequence (comprising loads in a desired order).
  • the control unit UP receives information (in particular a load identifier) read, on the loads passing through different places in the system, by reading devices (not shown), of the bar code reader type, reader RFID tag, etc. These places are for example located at the ends of the various conveyors.
  • the EE input elevator and the ES output elevator operate simultaneously, increasing the throughput of the buffer storage and sequencing system.
  • the sequencing (scheduling) function is split between the EE input lifter (which does the pre-sequencing) and the ES output lift (which does the final sequencing and participates in the pre-sequencing). ). This allows the buffer storage and load sequencing system to operate at a high rate (directly related to the work rate of the entry and exit elevators).
  • loads are referenced with alphanumeric characters (“C11”, “C12”, “C13”, etc.) to illustrate the operation of the system.
  • the load is referenced only with its associated alphanumeric characters (for example "C11")
  • the load reference is completed with the prime symbol (for example "C11'")
  • the load reference is referenced with the double prime symbol (for example "C11”"), etc.
  • the control unit UP searches for and selects a level to be recirculated among the entry levels.
  • the selected input level then has the status “to be recirculated”, and the loads on this level have the status “to be recirculated”.
  • a load "to be recirculated” changes to the status "in recirculation” when it is deposited on the recirculation level VR by the output elevator ES.
  • the maximum number of input level(s) that can have the status “to be recirculated” simultaneously is predefined. In a particular embodiment, this maximum number is equal to N (the number of input levels), in order to improve the sorting power of the loads to be recirculated and of the loads in recirculation.
  • a scrap channel is installed, either at the input or at the output of the buffer storage unit US, to process the anomalies, also called “scrapped loads”: load not expected, load not read , etc.
  • Scrap loads are therefore either taken out directly by the entry elevator, or conveyed to an entry level to be evacuated by the exit elevator. A scrap load cannot take the status “to be recirculated”.
  • FIG. 2 presents a flowchart of the control of the entry elevator by the control unit UP, according to a particular embodiment of the invention. It is an iterative control comprising at each iteration the steps detailed below, even if there is at least one load to be recirculated in the system.
  • a "scrap" load is the most upstream load of a level (i.e. the closest to the entry elevator), it is the sequence number of the load which precedes it (immediately downstream) which will be taken into account to define NumDerLoad.
  • control unit detects and identifies the loads possibly present on the pick-up positions by the entry elevator: pick-up position on the exit of the entry conveyor CE and pick-up position on the exit the recirculation level VR.
  • control unit goes to step 212 in which the entry elevator is put on hold (for example in front of the exit of the entry conveyor), then returns to the initial step 201.
  • control unit passes to step 206, in which the load present on the output of the input conveyor is selected, then to step 211 of selection of a destination level among the levels of entry.
  • control unit goes to step 209 in which the load present on the output of the recirculation level is selected.
  • control unit passes to step 209 in which the load present on the output of the recirculation level is selected. Otherwise, the control unit goes to step 206 in which the load present on the output of the input conveyor is selected.
  • control unit In the event of a positive response to test step 210 (that is to say if the two sorting conditions are verified), the control unit goes to step 212 in which the entry elevator is put on hold (for example in front of the exit of the entry conveyor), then returns to the initial step 201. Otherwise, the control unit goes to step 211 for selecting a destination level from among the levels d 'entrance.
  • step 211 the control unit seeks to select a destination level from among the input levels, respecting the aforementioned rule according to which loads present on the same input level (apart from possible load(s) to be recirculated) are sequenced in increasing order of order numbers.
  • the step 211 of selecting a destination level further comprises assigning a score to each of the input levels (with a set of scoring rules detailed below) then the entry level selection with the highest (positive) rating.
  • control unit favors, for example, the first entry level by following an order of traversal of the entry levels, defined in a parameter setting which depends on the physical configuration of the system.
  • step 211 If step 211 was successful (that is to say if a destination level could be selected from among the entry levels), the control unit performs step 217 in which it generates for the elevator entry a mission to transfer the selected load to the entry of the selected destination level.
  • step 211 the control unit performs test steps 213 and 214.
  • step 213 it detects whether the at least one output conveyor (CS) is saturated.
  • step 214 it detects whether an output elevator tap location is occupied by a load having the next sequence number in the output expected list. If the two conditions of the tests 213 and 214 are verified, the control unit returns to the initial step 201, otherwise it passes to a test step 215 in which it detects whether the predetermined maximum number of level(s) to be recirculated is reached. As mentioned above, in a particular embodiment this maximum number is equal to N, in order to improve the sorting power of the loads to be recirculated and of the loads in recirculation.
  • control unit If the condition of test 215 is verified, the control unit returns to the initial step 201, otherwise it passes to a step 216 of selecting a level to be recirculated.
  • the control unit selects a level to be recirculated from among the entry levels (without generation for the entry elevator of a transfer mission of the load selected on the entry of the level to be recirculated selected) and it assigns to each load of the level to be recirculated (except for loads with the "scrap" status) a load to be recirculated status (meaning that the load must be transferred by the exit lift to the entrance of the level of recirculation).
  • step 216 of selecting a level to be recirculated comprises assigning a score to each of the input levels, except the full input level(s) whose order number of the last load placed is less than or equal to the order number of the selected load, (with a set of rules of rating detailed below) and then selecting the entry level with the highest (positive) rating.
  • FIG. 3 presents a flowchart of the control of the exit elevator by the control unit UP, according to a particular embodiment of the invention. It is an iterative piloting comprising at each iteration the steps detailed below.
  • control unit detects and identifies any loads present on the tap positions by the output lift: tap positions on the outputs of the input levels VE 1 to VE N and on the output of the "fast lane" level VQ.
  • control unit detects whether a load having the next order number of the list of expected output is available for taking, among the loads detected in step 301.
  • control unit passes to test step 303 in which it detects whether the output conveyor is saturated.
  • control unit performs a test step 309 in which it detects whether a load to be recirculated is available for pick-up, among the charges detected in step 301.
  • control unit In the event of a positive response to the test step 309, the control unit returns to the initial step 301.
  • the control unit UP comprises a random access memory 43 (for example a RAM memory), a processing unit 41, equipped for example with a processor, and controlled by a computer program 420 stored in a read only memory 42 (for example a ROM memory or a hard disk).
  • a computer program 420 stored in a read only memory 42 (for example a ROM memory or a hard disk).
  • the code instructions of the computer program 420 are for example loaded into the RAM 43 before being executed by the processor of the processing unit 41.
  • the processing unit 41 receives signals from input 44, processes them and generates output signals 45.
  • the input signals 44 include various information relating to the operation of the overall system (comprising in particular the external unit(s), the buffer storage and sequencing system and the workstation(s) preparation), in particular the load identifiers read (by reading devices such as bar code readers, RFID tag readers, etc.) on the loads when they are pass through different places in the overall system (e.g. at the ends of different conveyors).
  • the output signals 45 include various control information for the piloting (control) of the equipment of the overall system (in particular within the buffer storage and sequencing system), in order to manage the movements of the loads in the overall system.
  • control unit UP is carried out either on a reprogrammable calculation machine (a PC computer, a DSP processor or a microcontroller) executing a program comprising a sequence of instructions, and/or on a dedicated calculation machine (for example a set of logic gates like an FPGA or an ASIC, or any other hardware module).
  • a reprogrammable calculation machine a PC computer, a DSP processor or a microcontroller
  • a dedicated calculation machine for example a set of logic gates like an FPGA or an ASIC, or any other hardware module.
  • the corresponding program that is to say the sequence of instructions
  • the corresponding program can be stored in a removable storage medium (such as a floppy disk, a CD-ROM or a DVD-ROM) or not, this storage medium being partially or totally readable by a computer or a processor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Economics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Resources & Organizations (AREA)
  • Entrepreneurship & Innovation (AREA)
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  • Strategic Management (AREA)
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  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
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  • Control Of Conveyors (AREA)
EP19203985.7A 2018-10-30 2019-10-18 Procédé de pilotage en mode tri d'un système de stockage tampon et de séquencement de charges, et unité de pilotage correspondante Active EP3648025B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1860027A FR3087924B1 (fr) 2018-10-30 2018-10-30 Procede de pilotage en mode tri d’un systeme de stockage tampon et de sequencement de charges, et unite de pilotage correspondante.

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EP3648025A1 EP3648025A1 (fr) 2020-05-06
EP3648025B1 true EP3648025B1 (fr) 2023-08-23

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US (1) US11339005B2 (zh)
EP (1) EP3648025B1 (zh)
CN (1) CN111115149B (zh)
CA (1) CA3059746C (zh)
DK (1) DK3648025T3 (zh)
ES (1) ES2960373T3 (zh)
FR (1) FR3087924B1 (zh)
PL (1) PL3648025T3 (zh)

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US11383937B2 (en) * 2020-04-20 2022-07-12 Target Brands, Inc. Systems and methods for warehouse order sortation

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US4499987A (en) * 1982-08-30 1985-02-19 Long Charles P Accumulator for a carton filling and packing production line
US5038909A (en) * 1989-08-17 1991-08-13 Covert William J Carton accumulator
CA2093761C (en) * 1992-04-10 1997-07-22 R. Brian Benson Ratchet operated continuous chain conveyor and storage and retrieval system utilizing a plurality thereof
JPH05330606A (ja) * 1992-06-01 1993-12-14 Itotsukusu:Kk 弾性輪状物搬送積込み方法および装置
KR102072792B1 (ko) * 2010-03-12 2020-02-03 심보틱 엘엘씨 보충 및 주문 이행 시스템
US10822168B2 (en) * 2010-12-15 2020-11-03 Symbotic Llc Warehousing scalable storage structure
US8998554B2 (en) * 2010-12-15 2015-04-07 Symbotic Llc Multilevel vertical conveyor platform guides
EP2826728B1 (en) * 2013-07-17 2016-06-08 Dematic Systems GmbH Method of order fulfilling by preparing storage units at a picking station
CN203843490U (zh) * 2014-05-07 2014-09-24 台州市握奇自动化设备有限公司 推动器成套智能生产线
FR3031510B1 (fr) * 2015-01-13 2019-04-19 Savoye Systeme et procede de sequencement pour au moins un poste de preparation
FR3051948B1 (fr) 2016-05-30 2021-01-01 Savoye Systeme de stockage tampon et de sequencement de charges comprenant deux elevateurs.

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US11339005B2 (en) 2022-05-24
CN111115149B (zh) 2021-10-26
CA3059746C (fr) 2023-09-19
US20200130949A1 (en) 2020-04-30
ES2960373T3 (es) 2024-03-04
FR3087924B1 (fr) 2021-07-30
CA3059746A1 (fr) 2020-04-30
FR3087924A1 (fr) 2020-05-01
DK3648025T3 (da) 2023-12-11
PL3648025T3 (pl) 2024-03-11
CN111115149A (zh) 2020-05-08
EP3648025A1 (fr) 2020-05-06

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